version: 66.12
glider: 204
mission: 15
dive: 51
start: 3 9 115 23 6 52
data:
$ID,204
$MISSION,15
$DIVE,51
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-71.557899
$PRESSURE_SLOPE,0.0001157966
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,090315,225905,1324.6399,14530.9922,31,1.2,31,1.2,0.0,0.0,9,20.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.1
$GPS2,090315,230642,1324.6587,14530.9277,7,0.9,7,1.2,0.9,307.5,11,20.9
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,N4
$TGT_LATLONG,1306.840,14616.260
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,84.9,88174,-15.8,-10.000,-19.55,2669
$D_GRID,1030
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.80,-175.2,187,2607,696,663,0.0,0.0,0,155,0.00,0.00,-52.00,0.000,16386,0.000,0.000,187,2608,2088,2053,2124,0,0,0,0,0,0,26.77,28.83,26.84
$GC,156,-0.80,-175.2,187,2609,2054,2126,3.1,-5.3,8,205,11.30,2.03,-32.95,0.000,19204,0.230,0.041,3013,1214,3554,3524,3584,0,0,0,0,0,0,26.27,25.28,26.52
$GC,224,-0.80,-175.2,3014,1208,3527,3585,16.2,-23.9,20,231,0.00,2.10,0.00,0.000,1030,0.000,0.030,3005,2592,3554,3525,3584,0,0,0,0,0,0,26.63,26.60,26.66
$GC,535,-0.80,-175.2,3004,2591,3528,3583,105.0,-28.4,63,542,0.00,1.62,0.00,0.000,260,0.000,0.041,2996,3698,3555,3526,3585,0,0,0,0,0,0,26.98,26.74,27.04
$GC,641,-0.80,-175.2,2996,3698,3527,3583,133.8,-27.2,73,653,0.00,1.52,0.00,0.000,1030,0.000,0.021,3003,2575,3555,3526,3584,0,0,0,0,0,0,26.91,26.88,26.92
$GC,947,-0.80,-175.2,3002,2574,3529,3585,197.3,-17.5,104,955,0.00,1.92,0.00,0.000,516,0.000,0.027,3009,1223,3556,3528,3585,0,0,0,0,0,0,27.11,26.90,27.17
$GC,1038,-0.80,-175.2,3008,1224,3530,3587,212.0,-16.9,108,1046,0.00,2.03,0.00,0.000,1030,0.000,0.030,2999,2614,3558,3530,3586,0,0,0,0,0,0,26.96,26.91,26.98
$GC,1365,-0.80,-175.2,2999,2615,3533,3590,261.5,-15.2,119,1375,0.00,1.62,0.00,0.000,260,0.000,0.044,2991,3692,3560,3531,3590,0,0,0,0,0,0,27.18,26.94,27.24
$GC,1423,-0.80,-175.2,2991,3692,3533,3590,266.9,-15.4,120,1434,0.00,1.50,0.00,0.000,1030,0.000,0.021,2995,2563,3559,3530,3589,0,0,0,0,0,0,27.08,27.05,27.09
$GC,1729,-0.80,-175.2,2996,2565,3532,3591,313.3,-14.9,131,1736,0.00,1.67,0.00,0.000,260,0.000,0.043,2988,3699,3560,3531,3590,0,0,0,0,0,0,27.22,26.97,27.28
$GC,1760,-0.80,-175.2,2988,3698,3532,3589,317.9,-14.7,132,1767,0.00,1.50,0.00,0.000,1030,0.000,0.022,2995,2580,3560,3531,3590,0,0,0,0,0,0,27.11,27.08,27.13
$GC,2090,-0.80,-175.2,2995,2581,3532,3586,365.8,-14.2,143,2100,0.00,1.92,0.00,0.000,516,0.000,0.025,3005,1223,3558,3531,3585,0,0,0,0,0,0,27.24,27.05,27.30
$GC,2133,-0.80,-175.2,3005,1224,3532,3586,370.6,-14.3,144,2140,0.00,2.00,0.00,0.000,1030,0.000,0.031,2996,2601,3557,3530,3585,0,0,0,0,0,0,27.09,27.03,27.11
$GC,2454,-0.80,-175.2,2996,2601,3532,3580,415.8,-13.0,155,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2601,3555,3531,3579,0,0,0,0,0,0,27.27,27.34,27.33
$GC,2754,-0.80,-175.2,2996,2602,3530,3577,450.0,-11.4,165,2761,0.00,1.60,0.00,0.000,260,0.000,0.044,2987,3693,3552,3529,3575,0,0,0,0,0,0,27.28,27.03,27.34
$GC,2800,-0.80,-175.2,2987,3694,3529,3576,453.6,-11.5,166,2807,0.00,1.50,0.00,0.000,1030,0.000,0.023,2994,2568,3551,3528,3575,0,0,0,0,0,0,27.17,27.15,27.19
$GC,3117,-0.80,-175.2,2994,2567,3525,3570,492.9,-12.0,177,3124,0.00,1.90,0.00,0.000,516,0.000,0.027,3004,1230,3547,3524,3571,0,0,0,0,0,0,27.29,27.11,27.36
$GC,3163,-0.80,-175.2,3004,1230,3525,3571,496.5,-12.0,178,3170,0.00,2.00,0.00,0.000,1030,0.000,0.031,2996,2601,3545,3520,3571,0,0,0,0,0,0,27.13,27.07,27.15
$GC,3474,-0.80,-175.2,2996,2601,3521,3568,533.2,-11.2,189,3481,0.00,1.60,0.00,0.000,260,0.000,0.044,2987,3691,3544,3520,3568,0,0,0,0,0,0,27.30,27.03,27.36
$GC,3515,-0.80,-175.2,2987,3692,3520,3567,536.7,-11.3,190,3522,0.00,1.50,0.00,0.000,1030,0.000,0.024,2994,2581,3543,3519,3567,0,0,0,0,0,0,27.19,27.15,27.20
$GC,3836,-0.80,-175.2,2994,2582,3517,3565,572.8,-10.6,201,3844,0.00,1.95,0.00,0.000,516,0.000,0.026,3004,1209,3540,3516,3564,0,0,0,0,0,0,27.31,27.10,27.37
$GC,3887,-0.80,-175.2,3005,1210,3515,3565,576.1,-10.5,202,3895,0.00,2.05,0.00,0.000,1030,0.000,0.032,2995,2605,3539,3515,3564,0,0,0,0,0,0,27.14,27.08,27.16
$GC,4193,-0.80,-175.2,2996,2607,3514,3562,609.4,-10.3,212,4200,0.00,1.62,0.00,0.000,260,0.000,0.045,2986,3705,3537,3513,3561,0,0,0,0,0,0,27.31,27.03,27.37
$GC,4254,-0.80,-175.2,2987,3705,3513,3560,615.7,-10.1,214,4261,0.00,1.55,0.00,0.000,1030,0.000,0.024,2994,2608,3536,3512,3561,0,0,0,0,0,0,27.18,27.15,27.19
$GC,4585,-0.80,-175.2,2993,2608,3510,3557,648.8,-10.1,225,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2608,3533,3509,3558,0,0,0,0,0,0,27.34,27.39,27.37
$GC,4885,-0.80,-175.2,2994,2609,3507,3555,680.2,-10.9,235,4893,0.00,1.62,0.00,0.000,260,0.000,0.045,2987,3701,3530,3506,3555,0,0,0,0,0,0,27.31,27.04,27.38
$GC,4921,-0.80,-175.2,2987,3701,3507,3555,683.8,-11.1,236,4928,0.00,1.52,0.00,0.000,1030,0.000,0.025,2994,2586,3530,3506,3554,0,0,0,0,0,0,27.20,27.15,27.21
$GC,5247,-0.80,-175.2,2994,2587,3503,3553,723.1,-12.3,247,5255,0.00,1.95,0.00,0.000,516,0.000,0.027,3004,1212,3528,3503,3553,0,0,0,0,0,0,27.32,27.09,27.39
$GC,5313,-0.80,-175.2,3004,1211,3504,3552,730.3,-11.9,249,5321,0.00,2.05,0.00,0.000,1030,0.000,0.033,2995,2602,3527,3502,3553,0,0,0,0,0,0,27.13,27.07,27.16
$GC,5635,-0.80,-175.2,2995,2602,3502,3549,767.8,-11.2,260,5643,0.00,1.65,0.00,0.000,260,0.000,0.045,2986,3691,3525,3501,3550,0,0,0,0,0,0,27.32,27.04,27.38
$GC,5671,-0.80,-175.2,2987,3692,3501,3549,771.5,-11.1,261,5680,0.00,1.52,0.00,0.000,1030,0.000,0.024,2993,2595,3525,3501,3549,0,0,0,0,0,0,27.19,27.17,27.20
$GC,5999,-0.80,-175.2,2993,2594,3500,3547,807.0,-10.3,272,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2594,3523,3499,3547,0,0,0,0,0,0,27.32,27.39,27.39
$GC,6299,-0.80,-175.2,2992,2594,3498,3546,837.7,-10.3,282,6306,0.00,1.95,0.00,0.000,516,0.000,0.028,3003,1228,3521,3497,3545,0,0,0,0,0,0,27.32,27.08,27.39
$GC,6350,-0.80,-175.2,3003,1227,3499,3545,840.7,-10.2,283,6358,0.00,2.03,0.00,0.000,1030,0.000,0.031,2995,2605,3522,3499,3545,0,0,0,0,0,0,27.13,27.07,27.16
$GC,6655,-0.80,-175.2,2995,2605,3497,3544,873.1,-10.0,293,6663,0.00,1.62,0.00,0.000,260,0.000,0.046,2986,3701,3520,3496,3544,0,0,0,0,0,0,27.32,27.01,27.39
$GC,6691,-0.80,-175.2,2986,3700,3496,3543,876.2,-10.0,294,6699,0.00,1.50,0.00,0.000,1030,0.000,0.025,2990,2605,3520,3496,3544,0,0,0,0,0,0,27.20,27.15,27.21
$GC,7018,-0.80,-175.2,2993,2605,3494,3544,910.4,-10.4,305,7025,0.00,2.00,0.00,0.000,516,0.000,0.027,3003,1201,3517,3493,3542,0,0,0,0,0,0,27.32,27.09,27.39
$GC,7049,-0.80,-175.2,3004,1201,3494,3543,913.6,-10.4,306,7057,0.00,2.05,0.00,0.000,1030,0.000,0.031,2994,2603,3517,3493,3542,0,0,0,0,0,0,27.13,27.06,27.15
$GC,7376,-0.80,-175.2,2995,2602,3493,3540,949.2,-11.4,317,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2602,3515,3491,3540,0,0,0,0,0,0,27.32,27.39,27.39
$GC,7676,-0.80,-175.2,2994,2602,3491,3540,983.1,-11.1,327,7684,0.00,2.00,0.00,0.000,516,0.000,0.026,3003,1204,3515,3490,3540,0,0,0,0,0,0,27.32,27.08,27.39
$GC,7703,-0.80,-175.2,3003,1204,3491,3540,985.9,-11.0,328,7711,0.00,2.05,0.00,0.000,1030,0.000,0.031,2994,2601,3515,3490,3540,0,0,0,0,0,0,27.13,27.05,27.15
$STATE,7759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7759,begin apogee
$GC,7762,-0.17,0.0,2995,2416,3490,3541,992.3,-11.0,330,7903,0.73,0.00,134.23,1.296,10246,0.159,0.000,3209,2417,2838,2813,2864,0,0,0,0,0,0,26.73,25.12,24.40
$STATE,7903,end apogee,CONTROL_FINISHED_OK
$STATE,7903,begin climb
$GC,7904,0.80,175.2,3209,2414,2809,2857,998.2,0.0,334,8064,1.05,2.25,142.75,1.301,10756,0.141,0.029,3529,1043,2114,2110,2119,0,0,0,0,0,0,25.28,24.70,23.98
$GC,8228,0.88,230.4,3529,1044,2105,2110,988.9,7.9,345,8285,0.00,2.12,45.47,1.283,9222,0.000,0.028,3523,2433,1894,1895,1893,0,0,0,0,0,0,26.00,25.94,24.35
$GC,8604,0.88,230.4,3523,2432,1885,1878,949.5,10.4,358,8612,0.00,1.95,0.00,0.000,260,0.000,0.044,3513,3686,1881,1884,1878,0,0,0,0,0,0,26.53,26.30,26.60
$GC,8635,0.88,230.4,3514,3687,1885,1879,945.7,10.8,359,8643,0.00,1.83,0.00,0.000,1030,0.000,0.023,3522,2410,1881,1884,1878,0,0,0,0,0,0,26.47,26.44,26.49
$GC,8967,0.88,230.4,3523,2407,1891,1877,908.5,11.4,370,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2406,1880,1883,1877,0,0,0,0,0,0,26.82,26.90,26.89
$GC,9267,0.88,230.4,3522,2405,1884,1876,875.6,10.7,380,9275,0.00,1.98,0.00,0.000,260,0.000,0.045,3514,3695,1879,1882,1876,0,0,0,0,0,0,26.95,26.70,27.02
$GC,9303,0.88,230.4,3513,3695,1884,1875,872.6,10.7,381,9311,0.00,1.80,0.00,0.000,1030,0.000,0.024,3522,2406,1878,1882,1875,0,0,0,0,0,0,26.86,26.82,26.87
$GC,9619,0.89,238.2,3522,2404,1883,1877,840.1,9.7,392,9632,0.12,1.98,1.08,0.193,10500,0.164,0.041,3550,3699,1864,1868,1861,0,0,0,0,0,0,26.64,26.67,26.55
$GC,9676,0.90,243.9,3549,3700,1883,1865,836.7,9.8,393,9689,0.00,1.80,3.80,1.036,9222,0.000,0.024,3559,2414,1847,1853,1842,0,0,0,0,0,0,26.93,26.90,25.39
$GC,10013,0.91,248.7,3559,2414,1876,1853,800.4,9.8,405,10034,0.00,2.05,11.57,1.216,8708,0.000,0.033,3569,1041,1821,1825,1818,0,0,0,0,0,0,27.05,26.44,25.61
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$STATE,17337,end climb,SURFACE_DEPTH_REACHED
$STATE,17337,begin surface coast
$FINISH,0.8,1.008301
$STATE,17348,end surface coast,CONTROL_FINISHED_OK
$STATE,17348,begin surface
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$IRIDIUM_FIX,1318.67,14530.63,040108,122846
$TT8_MAMPS,0.158788,0.158788
$HUMID,36.37
$INTERNAL_PRESSURE,9.22338
$TCM_TEMP,24.50
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$PA_PMVER,0.6
$PA_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014
$PA_BOARDID,1651515
$PA_UPTIME,17319.51 7416.44
$PA_BOOTCOUNT,856
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$PA_HOME,0.04/0.079/1.856/1.683
$PA_DISK_BANK,0
$24V_AH,23.98,10.142
$10V_AH,9.93,16.752
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.425,134.550,536.350,1.500,0.000,0.000,0.000,318.125,0.000,0.000,7.786,0.000,13848.894,594.989,3287.607,82.776,0.000,2370.852,0.000,1826.464,0.000,0.547,0.000
$DEVICE_MAMPS,229.500,58.140,1301.265,171.360,0.000,0.000,0.000,86.445,420.000,0.000,26.220,0.000,2.190,18.710,44.920,61.400,0.000,15.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,139.460,0.000,0.000,0.000
$MEM,229076
$DATA_FILE_SIZE,33406,797
$CAP_FILE_SIZE,155822,0
$CFSIZE,1024393216,1013186560
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